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    • 专利摘要:
    PROCESS AND DEVICE FOR ADAPTING DATA TRANSMISSION SECURITY IN A SERIAL BUS SYSTEM. The present invention relates to a process for the transmission of serial data on a bus system with at least two participating data processing units, the data processing units exchanging messages over the bus, the messages being sent present a logical structure in accordance with the ISO 11898-1 CAN Standard, and the logical structure comprises a Start-ofFrame-Bit, an Arbitration Field, a Control Field, a CRC Field, an Ackowledge Field and an End-sequence. of-Frame, where the Control Field comprises a Data Length Code, which contains information about the length of the Data Field. Depending on the value of an associated change condition (UB3), the CRC Field of messages can have at least two different numbers of bits.
    公开号:BR112013025903B1
    申请号:R112013025903-5
    申请日:2012-03-29
    公开日:2021-06-08
    发明作者:Florian Hartwich
    申请人:Robert Bosch Gmbh；
    IPC主号:
    专利说明:

    TECHNICAL STATUS
    [0001] The present invention relates to a process, as well as a device, for adapting the security of data transmission between at least two participants in a serial bus system.
    [0002] For example, from the standards of the ISO 11898-1 to -5 family the Controller Area Network (CAN) is known, as well as an extension of the CAN designated as "Time Triggered CAN (TTTCAN), hereinafter also designated as the CAN standard. The media access control process used in CAN is based on bitwise arbitration. In bitwise arbitration, several participant stations can transmit data simultaneously over the bus system channel, without thereby , data transmission is disturbed. Participating stations can further determine the logical state (0 or 1) of the channel by sending a bit. When a value of the sent bit does not match the logical state of the given channel, then the subscriber station terminates access to the channel. In CAN bitwise arbitration is normally performed by means of an identifier within a message to be transmitted over the channel. After a subscriber station has completely sent the id Entifier to the channel, she knows she has exclusive access to the channel. Therefore, the end of the identifier transmission corresponds to a start of a release interval, within which the subscriber station can exclusively use the channel. According to the CAN protocol specification, other subscriber stations cannot access the channel, ie send data to the channel, until the transmitting station and subscriber has transmitted a checksum field (CRC Field) of the message. Thus, the end of transmission of the CRC Field corresponds to an end of the release interval.
    [0003] By bitwise arbitration, therefore, a non-destructive transmission of those messages through the channel is obtained, which the arbitration process was able to obtain. CAN protocols are particularly suitable for transmitting short messages under real-time conditions, whereby by proper association of identifiers it can be ensured that particularly important messages almost always win arbitration and are successfully sent.
    [0004] With increasing connection to the network of modern vehicles and the inclusion of additional systems to improve, for example, traffic safety or traffic comfort, the demands on the amounts of data to be transmitted and the permissible latency times in transmission grow. Examples are traffic dynamics and regulation systems, such as, for example, the ESP electronic stability program, driver assistance systems, such as, for example, the ACC automatic distance regulation, or driver messaging systems, such as such as, for example, the detection of traffic signs (comp., for example, descriptions in "Bosch Kraftfahrtechnisches Handbuch", 27th edition, 2011,Vieweg+Teubner).
    [0005] The document DE 103 11 395 A1 describes a system in which serial communication can take place, alternatively, through an asymmetric physical or symmetric physical CAN protocol and, with this, a quantity or security of data transmission can be obtained highest for asynchronous communication.
    [0006] The document 10 2007 051 657 proposes that in the time windows exclusive to the TTCAN protocol, a fast asynchronous data transmission, not CAN-compliant, is used to increase the amount of data to be transmitted.
    [0007] G. Cena and A. Valenzano address in "Overclocking ofcontroller area networks" (Electronics Letters, Vol. 35, No. 22 (1999), p. 1924) the effects of an overclocking of the bus frequency in partial regions of the messages about the amount of data actually obtained. Adaptation of data transmission security is not covered.
    [0008] It was shown that the state of the art does not provide satisfactory results in all aspects. DESCRIPTION OF THE INVENTION
    [0009] Next, the invention is described with its advantages through drawings and examples of modality. The object of the invention is not restricted to the examples of embodiment shown and described. ADVANTAGES OF THE INVENTION
    [00010] The present invention starts from the transmission of messages with a logical structure according to the ISO CAN 11898-1 standard in a bus system, with at least two participating data processing units. The logical structure comprises a Start of Frame Bit, an Arbitration Field, a Control Field, a Data Field, a CRC Field, a Recognition Field and an End of Frame sequence, and the control comprises a Data Length Code, which contains a message about the length of the Data Field.
    [00011] The invention makes available a possibility to use for certain transmitted messages a modified polynomial to calculate the checksum and transmit a CRC Field with a size different from the CAN standard, due to the fact that, depending on the value of a condition of associated change, the CRC Field of the messages can have at least two different bit amounts. Thus, depending on the changing condition, the data transmission can be adapted to the data transmission task in each present case, for example, to the volume or security relevance of the transmitted data and, with it, the security of the transmission of data can be influenced or defined. Advantageously, in this case, to define the content of the CRC Field depending on the associated change condition, at least two different generator polynomials are used.
    [00012] With regard to the use of the method according to the invention and the corresponding devices, also in conventional CAN networks, it is advantageous when for at least one value of the associated change condition, the amount of bits in the CRC Field and the generator polynomial used to define the content of the CRC Field correspond to the ISO CAN 11898-1 standard.
    [00013] In an advantageous mode, the corresponding messages can be detected by a signal in the arbitration field and/or in the control field. With this, the participants receiving the message can detect the messages modified according to the invention and adapt their reception process accordingly. It can be advantageous if for this adaptation the Data Length Code content is also used.
    [00014] In a particularly advantageous modality, at the beginning of a message, several checksum calculations are started in parallel and, depending on the existence of an associated change condition and/or the content of the Data Length Code, it is decided which result of one of these calculations is used or transmitted in the CRC Field. Thus, it is possible to send with the message the information as to whether a message is transmitted according to the method according to the standard or according to the method modified according to the invention, without previously informing the receivers about the method used. Checksums to test correct data transmission exist for both processes and can be evaluated as needed.
    [00015] An advantageous modality, by making available the possibility of expanding the data field of a transmitted message, obtains the effect that compared to a standardized CAN message, a larger amount of data can be transmitted over the bus with a single message. This advantageously increases the data ratio and amount of data for control information in a message and thus also the amount of average data transmission via the bus system. The combination with the adaptation according to the invention of the CRC Field has the advantage that the error detection security can also be maintained or adapted for larger amounts of transmitted data.
    [00016] By establishing a clear association between the content of the Data Length Code and the length of the data field, a wing flexibility with respect to the size of the data field to be represented is advantageously obtained.
    [00017] It is also advantageous that for the values 0b0001 to 0b1000 of the Data Length Code, the data corresponding to the CAN standard are associated, therefore 1byte to 8 bytes and the remaining values of the Data Length Code are used for the other allowable data field sizes, up to the maximum possible size. This reduces the complexity of adaptation and application software in converting to the process according to the invention, so as to save costs.
    [00018] The use of a modified polynomial to calculate the checksum occurs in dependence on a change condition, so that in the existence of the change condition, the process according to the invention reaches the application, while, in the rest, data transmission takes place according to the normal CAN standard. Advantageously, also, the extension of the data field and the adaptation of the interpretation of the content of the Data Length Code is also dependent on a possibly the same change condition. Thus, the devices according to the invention can be used both in bus systems in the CAN standard, as well as in new bus systems according to the invention with potentially larger data fields.
    [00019] The present changing conditions are informed to the receivers by one or more flags. Here, it is particularly advantageous when at least one of the flags occurs by a first sign bit, whose position is between the last bit of the identifier and the first bit of the Data Length Code, and in which position is a bit with a value defined in messages according to the CAN ISO 11898-1 standard. It is also advantageous that any synchronization adjustment bits, if any, which are present in the message before the CRC, are included in the checksum calculation. Thereby, the security of data transmission or the probability of detecting data transmission errors is further improved.
    [00020] Combining the process, further, with a bit length change, for example, at least for the bits of the data field and the CRC field, then the additional advantage that a larger amount of data is obtained. it is transmitted at a fast rate, which is the case for a data field limitation to 8 bytes. As a result, the average amount of data transmission of the bus system is additionally increased. In an advantageous modality, in this case, messages are marked with a bit length shortened by another sign bit, which is situated between the first sign bit and the first bit of the data length code. With this, the bit length change can take place independently of the CRC calculation change or the data field size and can be flexibly reacted to data from the bus system.
    [00021] The process can be used advantageously in the normal operation of an automobile, for data transmission between at least two control devices of the automobile, which are connected through an appropriate data bus. But, it can also be used equally advantageously during production or maintenance of an automobile for data transmission between a programming unit connected with an appropriate data bus, for programming purposes, and at least one control apparatus of the automobile. , which is connected to the data bus. It can also be used equally advantageously in the industrial sector, when larger amounts of data need to be transmitted, for example for control purposes. Particularly when due to the length of the transmission path a reduced amount of data needs to be used during arbitration, so that all participants have the possibility to gain access to the bus, through the process, particularly in combination with changing the field length data and bit length reduction, a higher data transmission amount can be obtained.
    [00022] Another advantage is that a standardized CAN controller only needs to be modified minimally to be able to work in accordance with the invention. A communication controller according to the invention, which can also work as a standardized CAN controller, is only insignificantly larger than a conventional standardized CAN controller. The corresponding application program does not need to be modified and advantages in data transmission speed are already obtained.
    [00023] Advantageously, considerable parts of the CAN-Conformance test (ISO16845) can be assumed. In an advantageous modality, the transmission process according to the invention can be combined with the complementations of the TTCAN (ISO 11898-4). DRAWINGS
    [00024] The invention is explained in more detail below, by means of the drawings.
    [00025] Figure 1a shows the two alternatives for the formation and messages in CAN format, according to the CAN ISO 11898-1 standard of the prior art. Figure 1b shows the two analogous alternatives for the format of the messages modified according to the invention with respect to the latter.
    [00026] Figure 2 represents several possibilities, of how the content of the Data Length Code can be interpreted according to the invention, deviating from the normal CAN ISO 11898-1.
    [00027] Figure 3 schematically represents an example of a modality for the reception process according to the invention in a bus system participant station.
    [00028] Figure 4 schematically represents another example of modality for the reception process in a bus system participant station.
    [00029] Figure 5 shows two examples of the format of modified messages according to the invention, in which a different bit length is used in defined regions within the message. DESCRIPTION OF MODEL EXAMPLES
    [00030] In Figure 1a is represented the formation of messages, such as they are used on a CAN bus for data transmission. The two different formats "standard" and "extended" are represented. The method according to the invention, which signals the beginning of the message, can be applied equally to both formats.
    [00031] The message starts with a "Start of Frame" (SOF) bit, which signals the start of the message. A section is attached, which in the first line serves to detect the message and through it the bus system participants decide whether or not they receive the message. This section is designated "Arbitration field" and contains the identifier. A "Control field" follows, which, among others, contains the Data Length Code. The Data Length Code contains information about the length of the message's data field. The actual data field "Data field" follows, which contains the data to be exchanged between the bus system participants. The "CRC Field" follows with the checksum comprising 15 bits and a delimiter and subsequently two "Acknowledge" (ACK) bits, which serve to signal successful reception of a message to the transmitter. The message is completed by an "End of Frame" (EOF) sequence.
    [00032] In the CAN transmission process according to the standard, the data field can contain a maximum of 8 bytes, therefore 64 bits of data. According to the standard, the Data Length Code comprises four bits and can therefore take on 16 different values. Only eight different values are used of this range of values in current bus systems for the different sizes of the data field, from 1 byte to 8 bytes. A 0 byte data field is not recommended in standardized CAN, sizes above 8 bytes are not allowed. The association of Data Length Code values to data field sizes is shown in the CAN standard column.
    [00033] In Figure 1b are confronted in analogous representation, the modified messages to be transmitted according to the invention, in each case, derived from the two standardized formats.
    [00034] In the transmission process modified according to the invention, the data field can also contain more than 8 bytes, that is, in the represented mode, up to K bytes. Unlike in standardized CAN, other values, which can occupy the Data Length Code, are used to signal larger data fields. For example, the four bits of the Data Length Code can be used to represent values from zero to 15 bytes. But other associations can also be made, for example, it is a possibility to use in current CAN and messages the normally unused value of Data Length Code DLC = 0b0000 to another possible size of the data field, eg for the size 16 bytes. These two possibilities are represented in Figure 2 in table form as DLC 1 and DLC 2. The maximum size of the K data field has, in these cases, the value of 15 or 16.
    [00035] Another possibility is that for Data Length Code values greater than 0b1000 and up to 0b1111, the corresponding data field sizes grow, for example in each case by 2 bytes. This case is represented in the table as DLC 3. The maximum size of the K data field in this variant reaches the value of 24. By selecting a larger increment, eg 4 bytes, correspondingly larger data fields could be obtained.
    [00036] In the example DLC 3, an additional modification was made, in addition: the value DLC = 0b0000 is used in this example of Remote-Frames mode. In the standardized CAN, on the other hand, it is foreseen that a Remote-Frame with the same value as the DLC, which presents the message sent as a reaction to the Remote-Frame, is transmitted. By the modification described here, it is guaranteed that Remote-Frames with different DLC and the same identifier cannot be sent, which leads (comp.ISO 11898-1, chap. 10.8.8) to unavoidable collisions.
    [00037] In the process modalities, which are represented in Figure 2, in the DLC 1, DLC 2 and DLC 3 columns in a table manner, the association of the values from 0b0001a 0b1000 of the Data Length Code to data field sizes between 1 byte and 8 bytes of association in standardized CAN. This makes it possible to simply achieve standardized CAN compatibility, therefore configure the communication controller in such a way that it works according to the standard in a standardized CAN bus system, while in a modified bus system according to the invention it allows larger data fields in messages. But, it is also possible to make an entirely new association of the possible values of the Data Length Code to the allowable lengths of the data field. An example of this is shown as DLC 4, also in Figure 2. The maximum obtained size K of the data field is, in this case, 30 bytes.
    [00038] To ensure that this communication controller can check how it should interpret the contents of the Data Length Code, it is advantageous for it to automatically identify whether the bus system communication takes place according to the standardized CAN or the process according to the invention. One possibility for this purpose is to make use of a reserved bit within the Arbitration Field or Control Field for marking, so that from this first signal K1, the communication controller can derive a first change condition UB1 in the dependency from which he selects the transmission process. For example, the second bit of the Control Field, designated r0 in Figure 1b, can be used for marking.
    [00039] The definition can also be selected depending on the format of the identifier. For standard addressing, it is thus a possibility for message marking according to the invention to insert a recessive EDL bit (Extended Data Length) in the Control field in the position of the always dominant bit r0 in the standardized CAN. For extended addressing, the recessive EDL bit in the Control Field can reach the position of the always dominant r1 bit in the standardized CAN.
    [00040] Another possibility is to use the SRR bit, which in the standardized CAN always needs to be sent recessive, but which is also dominantly accepted by the bus participants receiving the message. Bit combinations can also be evaluated for checking the first change condition UB1.
    [00041] Another possibility would be to prescribe for the modified transmission process the use of Extended Format. Messages in Extended Format are recognized by the bus participants in the value of the IDE bit (comp. Figure 1a) and this bit could simultaneously represent the first UB1 change condition, so that for extended messages the modified transmission process is always used . Alternatively, it would also be possible to use in extended messages the bit r1 reserved as the first mark K1 or for derivation of the first change condition UB1. But the reserved bit can also be used, as described below, for deriving a second UB2 change condition for changing between more than two different data field sizes or associations between Data Length Code values and data sizes. data field.
    [00042] But, alternatively, it is also possible to apply the process to communication controllers suitable for this purpose, which are not also configured for CAN communication according to the standard. In this case, the definition of the first quoted change condition UB1 can also be suppressed, for example, depending on an appropriate K1 tag of the messages. In this case, however, communication controllers work exclusively according to one of the described processes and, consequently, can only be used in bus systems, in which these communication controllers according to the invention are in use exclusively.
    [00043] When, as foreseen in the invention, the message data field is expanded, then it may also be appropriate to adapt the process used for the Cyclic Redundancy Check (CRC), in order to obtain a sufficient security against error. Particularly, it may be advantageous to use another CRC polynomial, e.g. higher order, and correspondingly predict a divergent size of the CRC field in the modified messages according to the invention. This is represented in Figure 1b by the fact that the CRC field of the messages according to the invention in the example shown has a length of L bits, where L, diverging from the standardized CAN, may be different, particularly greater than 15 .
    [00044] Using a modified process to calculate the CRC checksum can be signaled to the bus participants for a third K3 tag, which represents the third UB3 change condition. MNas this K3 tag and the third UB3 switching condition can also match the first K1 tag and/or the UB1 switching condition. Also here, as described above, the reserved bit r0 of Fig. 1b can serve for marking, or the SRR bit can be used. It is also of interest to use the IDE bit in connection with the application of the process in extended messages, or also the r1 bit.
    [00045] In standardized CAN controllers, the CRC code of CAN messages to be sent is generated by means of a re-coupled cursor register, in whose input the message bits sent serially are fed sequentially. The width of the cursor record corresponding to the order of the CRC polynomial. CRC encoding occurs by linking the record content to the CRC polynomial during change operations. When CAN messages are received, the serially received message bits are correspondingly inserted into the cursor register. The CRC test is successful when at the end of the CRC field all bits of the cursor register are set to zero. The generation of CRC code in the case of sending and the testing of CRC in the case of reception both take place in hardware, without the need for software intervention. A modification of the coding and CRC therefore has no effect on the application software.
    [00046] In the standardized CAN protocol the synchronization adjustment bits within CAN messages (comp. ISO 11898-1, chap. 10.5) are not included in the calculation or testing of the CRC code (comp. ISO 11898-1, chap. 10.4.2.6; "...the big stream given by the destuffed bit sequence..."). This results in the fact that in rare cases two bit-errors in a message go undetected, although the CRC should actually detect up to five randomly distributed bit-errors in a message. This can occur when the bit errors of synchronization adjustment bits are transformed into data bits, and vice versa (comp. Unruh, Mathony und Kaiser: "Error Detection Analysis of Automotive Communication Protocols", SAE International Congress, Nr. 900699 , Detroit, USA 1990).
    [00047] In the modified transmission process according to the invention, the CRC encoding can, on the other hand, be modified in such a way that also the synchronization adjustment bits within the message are included in the calculation or testing of the CRC code . That is, in this mode, the synchronization adjustment bits belonging to the Arbitration field, Control field and Data field are treated as part of the data to be protected by Cyclic Redundancy Check. The CRC-Field synchronization adjustment bits are excluded as in standardized CAN.
    [00048] In a possible mode, the communication controller is configured in such a way that it is compatible with the standardized CAN, therefore, it works according to the standard in a standardized CAN bus system, while in a modified bus system according to the invention, on the one hand, it allows larger data fields in the messages and, on the other hand, it also performs the adapted calculation and testing of the CRC code.
    [00049] As at the beginning of reception and a message is not yet determined whether a CAN message according to the standard or a modified message according to the invention is received, two CRC cursor registers are executed in a communication controller, which work in parallel. Upon receipt of the CRC Delimiter, when the CRC-Code is evaluated at the receiver, due to the third K3 tag according to the invention or the third UB3 change condition, derived from the tag or the Data Length Code content, it is also It determines which transmission process was used and then evaluates the cursor record associated with that transmission process. The third change condition UB3, as already described previously, can match the first change condition UB1, which refers to the size of the data field and the interpretation of the Data Length Code.
    [00050] At the beginning of the sending of a message, it is already determined for the transmitter according to which transmission process the transmission should be carried out. But as it may happen that the arbitration on access to the bus is lost and the initiated message is not sent, but instead another message is received, here too the two CRC cursor registers are commanded in parallel.
    [00051] The described execution of two CRC cursor registers that work in parallel also allows for an additional improvement: the CRC polynomial of the standardized CAN protocol (x15 + x14 + x10 + + x8 + x7 + x4 + x3 + 1) is configured for a message length and less than 127 bits. When messages transmitted in accordance with the invention also use longer data fields, it is suitable for preserving the security of transmission to use another, particularly longer, CRC polynomial. The messages transmitted according to the invention consequently obtain a modified CRC Field, particularly longer. In current operation, the communication controllers dynamically alternate between the two CRC cursor registers, hence the cursor register according to the standardized CAN and the cursor register according to the invention, to use in each case the appropriate polynomial.
    [00052] Of course, more than two cursor registers and, consequently, more than two CRC polynomials can also be used, staggered, depending on the length of the data field or the desired transmission security. In that case, when a compatibility with the standardized CAN is to be maintained, the corresponding marking and the change condition associated with it must be adapted. For example, by the reserved bit r0 or by the bit d SRR in Fig. 1b a first change condition UB1 must be activated, which signals a change to longer data fields, for example, according to DLC in Fig. 2, and a second corresponding CRC polynomial. For messages in Extended Format, additionally, for example, characterized by the reserved bit r1 or the IDE bit in Figure 1b (second tag K2), a second change condition UB2 could be activated, which characterizes the change to another set of sizes of data field, for example, DLC 3 of Figure 2, and a third CRC polynomial.
    [00053] Incidentally, it is also possible that the first UB1 change condition, for example, by the reserved r0 bit or the SRR bit, change to the possibility of longer data fields and the corresponding interpretation of the content of the Length Code of data, and that the determination of the third change condition UB3 and associated with it, the selection of the polynomial d CRC to be evaluated for the CRC test, then occurs in dependence on the content of the Data Length Code. The third change condition UB3, therefore, can also take more than two values. For example, data field sizes can be selected according to DLC3, therefore assume the values 0 (for Remote-Frames) 1, ..., 8, 10, 12, 14, 16, 18, 20 and 24 bytes, and then three CRC polynomials could be computed in parallel via appropriate cursor records, eg the standardized CRC polynomial for data fields up to 8 bytes, a second CRC polynomial for data fields up to 16 bytes, and a third CRC polynomial for data fields up to 24 bytes.
    [00054] Figure 3 shows in simplified representation a detail of the reception process according to the invention, as it takes place in a participant station of the bus system. Represented here is the case in which compatibility with standardized CAN is achieved by the fact that, depending on the first changeover condition UB1, the behavior of the communication controller is adapted. Although in Figure 3 a usual representation for the description of program executions in software was selected, the process is equally fully suitable for execution in hardware.
    [00055] The participant station is initially in a bus explorer state as long as there is no communication traffic on the bus. Query 302 therefore waits for a dominant bit on the bus. This bit signals the start of a new message.
    [00056] As soon as the start of a new message is verified, the calculation of the at least two checksums to be calculated in parallel begins in block 304. The first checksum corresponding to the standardized CAN CRC calculation, while the second checksum is calculated according to the new process. In the calculation of the second checksum, the Synchronization Adjustment Bits are included in the modality example, whereas this does not occur in the calculation according to the standardized CAN. But it is also possible not to take into account, similarly to standardized CAN, the synchronization adjustment bits also for the calculation of the second checksum.
    [00057] Subsequently, from step 306, the bits following the SOF bit of the message are received, starting with the Arbitration field. If several bus participants want to send a message, in this case, according to the usual standardized CAN process, it is negotiated between the participants which bus participants receive access to the bus. The represented block 306 characterizes the reception and all the bits, until the first K1 mark has been received or until the first change condition UB1 is established. In the examples presented, the first change condition UB1 is determined from the Arbitration field, for example, from the SRR bit or the IDE bit, or from the Control field, for example, from a reserved bit thereof (comp. Figure 1 ). Subsequently, in block 308 still other bits of the message can be received, until, from a certain bit of the message, depending on the determined first change condition UB1, proceeds in a different way. This division into different process modes is ensured by a corresponding query or branch 310, as illustrated exemplified below.
    [00058] If in branch 310, for example, after receiving the first two bits of the Control Field, there is information that according to the first change condition UB1, the communication takes place according to the standardized CAN (the path designated as "1" of Figure 3), thus, in step 312, the other bits of the Control Field are introduced. From these bits the Data Length Code is evaluated according to the standardized CAN and subsequently, in step 316, the corresponding amount of data, at most 8 bytes, is received corresponding to the data field. In step 320 the CRC field comprising 15 bits is then received. If at branch 324 there is information that the CRC checksums transmitted by the transmitter and determined by the receiver itself match, in block 328 a dominant Acknowledge-Bit is sent. It should be noted that in this case the checksum and CRC according to the standard are compared, since the communication takes place according to the standardized CAN. If a match is not found, the Acknowledge-Bit is sent recessively (in block 320). Subsequently, the ACK Delimiter and EOF bits follow (see Figure 1b, not shown in Figure 3.
    [00059] If, on the contrary, it exists in branch 310, for example, after receiving the first two bits of the Control Field, the information that according to the first change condition UB1 the modified communication process of according to the invention (the path designated as "2" in Fig. 3), thus, in block 314 the other bits of the Control Field are introduced. From the result, the Data Length Code is determined according to the new interpretation, for which some examples are presented in table manner in Figure 2. In block 318 the corresponding amount of data is received, therefore, for the DLC example 1 from the table in Figure 2 up to 15 bytes, for the DLC2 example, up to 16 bytes, for the DLC example 3, up to 24 bytes, and for the DLC example 4, up to 30 bytes. In block 322 the divergent CRC field according to the invention, particularly longer, is received. If at branch 324 there is information that the CRC checksum transmitted by the transmitter and the one determined by the receiver itself match, in which case the comparison is based on the divergent CRC checksum according to the invention, it is sent in block 328 a dominant Acknowledge-Bit. Otherwise, Acknowledge-Bit is sent recessively (block 330).; subsequently, in step 332 or 334 the ACK Delimiter bits and the EOF bits follow. With this, a reception process for a message is completed.
    [00060] In Figure 3, the case in which the third UB3 change condition, which determines the CRC to be used, coincides with the first UB1 change condition, which refers to the size of the data field and the interpretation of the data field, is presented. Data length code.
    [00061] Therefore, before receiving 320 or 322 of the CRC checksums it is not queried again which CRC should be received according to the third change condition UB3 and evaluated for branch 324. By a simple modification of the flowchart of Figure 3, this additional query can be included in the flowchart, as depicted in Figure 4.
    [00062] In a receiving process modified in this way, according to Figure 4, after receiving the expected number of bytes of data according to the information of the Data Length Code of the data field, in block 316 or 318 it is determined in query or branch 410 which value the third change condition UB3 has. This information, as described previously, may have been determined, for example, from the corresponding third K3 tag, or from the content of the Data Length Code. In the example shown, there are three different values for the third change condition UB3, namely, A, B and C. Depending on the value of the change condition UB3, a different number of bits of the UB3 is then inserted in blocks 420, 422 and 424. CRC field, for example, for value A, 15 bits, for value B, 17 bits and for value C, 19 bits. Subsequently, at branch 324 it is tested, analogously to Figure 3, whether the CRC checksum transmitted by the transmitter and the one determined by the receiver itself match and, dependent on that, proceeding with the process.
    [00063] Figure 5 shows for other examples of mode of transmission process according to the invention, again the message structure in the two possible variants, the Standard Format and the Extended Format. For both variants, regions are inscribed in Figure 5, in which the change between two states is made, here designated as Fast-Arbitration and Fast-Can-Data. This change between the two states means that, in this example, after arbitration is completed for a part of the message, particularly for the data field and the CRC field, the bit lengths are shortened and therefore the individual bits are transmitted faster over the bus. With this, the transmission time for a message can be shortened in relation to the process according to the standard. Corresponding switching of the temporal bit length can be performed, for example, by using at least two different scaling factors to adjust the bus-time unit with respect to the smallest time unit or oscillator cycle in current operation. Changing the bit length, as well as the corresponding modification of the scaling factor are also illustrated as an example in Figure 5.
    [00064] The transition between the states of Fast-CAN-Arbitration and Fast-CAN-Data can occur depending on a fourth UB4 change condition, which corresponds to a fourth K4 marking of the messages, which signals the transmission participants of data the shortened bit length is used. In the modality example shown here, the selected position of this marker K4 is the "reserved bit" r0, which is transmitted before the Data Length Code. It therefore corresponds to a possible position of the first K1 tag, which corresponds to the first change condition UB1 and characterizes the possible use of longer data fields and a modified interpretation of the Data Length Code, and also of the third K3 tag , which corresponds to a modified CRC calculation.
    [00065] Another possibility for marking messages according to the invention with shortened bit length is represented in Figure 6. Here, messages with potentially longer data fields (corresponds: first marking K1) and modified CRC calculation ( matches: third K3 tag) are characterized by a recessive EDL (Extended Data Length) bit, which takes the place of a dominantly transmitted bit in standardized CAN messages and replaces that bit or shifts it by one position backwards. For standard addressing, the EDL bit enters the second position in the Control Field and shifts the r0 bit, which is always dominant there, by one position. For extended addressing, the EDL bit enters the example shown in the first position of the Control field and replaces the reserved bit r1, which is found there, and which is transmitted in the standardized CAN always dominantly. The fourth mark K4, which announces the use of the shortened bit length, is represented by the insertion of an additional recessive BRS (Bit Rate Switch) bit in the Message Control Field according to the invention, matter characterized by the bit of EDL In the modality example shown here, the BRS bit position is the fourth (default addressing) or third (extended addressing) position in the Control Field.
    [00066] Messages bear the designation "CAN FD Fast". For the two possible message addressing variants, the Standard Format and the Extended Format, regions are inscribed in Figure 6, in which one moves between two states, designated with FastCAN-Arbitration and Fast-CAN-Data. This change between the two states causes, as already mentioned, for the corresponding part of the message the bit lengths are shortened and therefore the individual bits are transmitted more quickly across the bus. With this, the transmission time for a message can be shortened in relation to the process according to the standard. The transition between Fast-CAN-Arbitration and Fast-CAN-Data states occurs in messages, which have the first or third EDL tag, dependent on the fourth BRS tag, which signals to data transmission participants that the length of is used. shortened bit.
    [00067] In the case shown, in which, therefore, the first EDL tag is followed by the second BRS tag, in the transmission process according to the invention, messages are transmitted whose bit length is sharply shortened, whose field size is data can be extended to values above 8 bytes, and whose CRC is adapted to the larger data field. Thus, a considerable increase in the transmission capacity via the bus system is obtained, and at the same time improved transmission security.
    [00068] The fastest transmission starts in the represented example directly after sending the corresponding flag and ends directly after reaching the determined bit for a shift inversion or when a reason for starting an Error-Frame has been detected.
    [00069] Figure 7 shows a reception process modified in relation to Figure 3, which additionally changes between Fast-CAN-Arbitration and Fast-CAN-Data states, depending on the second BRS tag. If in branch 310, for example, upon reception of the second bit of the Control Field as recessive EDL bit, there is information that the modified communication process according to the invention must be applied, then in block 408 the next ones are inserted. bits of the Control field. When the bit that serves for the second marking, for example, the fourth bit BRS of the Extended Control Field according to the invention, is received with the expected value, for example, in recessive mode, then, for example, in the Sample Point of this bit, the state of FastCAN-Data is assumed, therefore, changed to the shortened bit length ("C" path). When the corresponding bit has the inverse value, therefore, in this example, dominant, then a shortening of the bit length (path "B") does not occur. In blocks 412 or 414, reception of the remaining bit of the Control Field including the Data Length Code and reception of the data field according to the length information of the Data Length Code takes place. In block 412 reception is performed with normal bit length, in block 414 with shortened bit length. In blocks 416 or 418, the particularly longer divergent CRC field according to the invention is inserted. In the last bit of the CRC field, the CRC-Delimiter in block 418 changes back to the Fast-CAN-Arbitration state with normal bit quantity. Subsequently, at branch 324 it is tested, analogously to Figure 3, whether the CRC checksum transmitted by the transmitter and the one determined by the receiver itself match and depending on this, the process is continued, as already in Figure 3.
    [00070] The use of the modality example depicted in Figure 5, in combination with the modality example designated as DLC3, of the process with modified data field size with reference to the amount of data transmission obtained illustrates the following calculation: part- if a data field length of 24 bytes, data frames in Standard Format with 11 addressing bits, as well as a Baudrate of 500kbit/s. In addition, it is assumed that the graduation fact after the "reserved bit" r0 is increased by a factor of four. In this case, the bit length after the "reserved bit" r0 would be reduced from 2 microseconds to 0.5 microseconds. Disregarding possible Sync Adjustment Bits in this example, they are transmitted per 27 bit data frame (SOF, Identifier, RTR, IDE, r0, ACK-Field, EOF, Intermission), with normal bit length and 212 bits (DLC, Data, CRC, CRC Delimiter), with the bit length shortened, and here we still started with a 15-bit CRC, but which according to the invention could be replaced by a longer CRC.
    [00071] Under the given marginal conditions results in an effective transmission capacity of 293 in 160 microseconds, which to an assumed bus usage corresponds to an amount of data transmission, which in relation to the transmission of standardized, unmodified CN, is increased by a factor of 3.7. Additionally, the relation of service data (Data Field) to protocol overhead shifts advantageously.
    [00072] The process is appropriate in the normal operation of an automobile. For data transmission between at least two control devices in the car, which are connected via an appropriate data bus. But, it can also be used advantageously during production or maintenance and an automobile for data transmission between a programming unit connected for programming purposes with an appropriate data bus and at least one control apparatus of the automobile, which is connected with the data bus. It is also possible to use the process in industrial automation, therefore, for example, for the transmission of control information between distributed control units, connected to each other by the bus, which control the course of a production process. In such an environment very long bus lines may also be present and it may be particularly appropriate to operate the bus system for the arbitration phase with a relatively long bit length, for example 16, 32 or 64 microseconds, so that the bus signals can be expanded during the arbitration process, as needed, over the entire bus system. Subsequently, a change in a part of the message, as described, can then be made to shorter bit lengths, so as not to let the average transmission amount get too small.
    [00073] In total, the process represents a transmission process, which is distinguished by the fact that a standardized CAN controller only needs to be minimally modified in order to work in accordance with the invention. A communication controller according to the invention, which can also work as a standardized CAN controller, is only insignificantly larger than a conventional standardized CAN controller. The corresponding application program does not need to be modified and advantages in data transmission speed are already obtained. By using the enlarged data field size and the corresponding DLC and CRC, the data transmission speed can be further increased, adaptations in the application software are minimal. Large parts of the CANConformance Test (ISO 16845) can be assumed. It is also possible to combine the transmission process according to the invention with additions to the TTCAN (ISO 11898-4).
    [00074] When reference has been made in the preceding description of the invention to ISO standards, in each case the version valid at the time of filing the corresponding ISO standard as prior art shall be taken as a basis.
    权利要求:
    Claims (32)
    [0001]
    1. Process for serial data transmission in a bus system with at least two participating data processing units, which exchange messages over the bus, and the messages sent have a logical structure in accordance with CAN ISO 11898 -1, where the logical structure comprises a start-of-frame bit, an arbitration field, a control field, a data field, a CRC field, an acknowledgment field and an end-of-frame sequence. control field comprises a data length code, which contains information about the length of the data field, characterized by the fact that the process comprises the steps of the CRC field of messages, depending on the value of a condition of change (UB3) associated, present at least two different numbers of bits, the use of a modified polynomial for the calculation of checksums occurs depending on the change condition (UB3), in the presence of the change condition, the process is used, and in the absence of the change condition, the data transmission takes place according to the normal CAN standard.
    [0002]
    2. Process according to claim 1, characterized in that to determine the content of the CRC field depending on the value of the associated change condition (UB3), at least two different generator polynomials are used.
    [0003]
    3. Process according to claim 1 or 2, characterized in that for at least one value of the associated change condition (UB3), the number of bits in the CRC field and the generator polynomial used to determine the content of the CRC Field correspond to the standard of CAN ISO 11898-1.
    [0004]
    4. Process according to claim 1 or 2, characterized in that messages, in which, depending on the value of an associated change condition (UB3), the CRC field of the messages may have two different numbers of bits, can be detected by an appropriate flag (K1, K3) in the arbitration field and/or in the control field.
    [0005]
    5. Process according to claim 1 or 2, characterized in that the value of the associated change condition (UB3) is determined in the participating data processing units, depending on the appropriate marking (K1, K3) or is derived in connection with the content of the data length code, depending on the value of the associated change condition (UB3), the reception process is adapted to the size of the CRC field.
    [0006]
    6. Process according to claim 1 or 2, characterized in that at the beginning of a message, the calculation of at least two CRC checksums is started in parallel by means of different generator polynomials and, depending on the value of the condition of associated change (UB3), it is decided which result of one of the parallel initiated CRC calculations is used.
    [0007]
    7. Process according to claim 1 or 2, characterized in that in the existence of the change condition (UB3) associated in at least one of the CRC calculations performed in parallel, any synchronization adjustment bits within are also taken into account. of the message sections, which are located before the CRC field.
    [0008]
    8. Process according to claim 1 or 2, characterized in that in the existence of another change condition (UB1), the message data field, diverging from the ISO 11898-1 CAN standard, may comprise more than that eight bytes, and to determine the size of the data field, in the existence of the other change condition (UB1), the values of the four bits of the data length code are interpreted, at least partially, diverging from the CAN ISO standard 11898-1.
    [0009]
    9. Process according to claim 4, characterized in that in the existence of another change condition (UB1), the message data field, diverging from the ISO 11898-1 CAN standard, may comprise more than eight bytes, and to determine the size of the data field, in the existence of the other change condition (UB1), the values of the four bits of the data length code are interpreted, at least partially, diverging from the standard of CAN ISO 11898- 1.
    [0010]
    10. Process according to claim 5, characterized in that in the existence of another change condition (UB1), the message data field, diverging from the standard of CAN ISO 11898-1, may comprise more than eight bytes, and to determine the size of the data field, in the existence of the other change condition (UB1), the values of the four bits of the data length code are interpreted, at least in part, diverging from the ISO 11898 CAN standard -1.
    [0011]
    11. Process according to claim 8, characterized in that in the existence of the other change condition (UB1), each of the possible value combinations of the bits of the data length code is associated with one of the admissible sizes of the field of data.
    [0012]
    12. Process according to claim 8, characterized by the fact that messages, in which the message data field, diverging from the ISO 11898-1 CAN standard, may comprise more than eight bytes, and for determining the data field size, the values of the four bits of the data length code are interpreted, diverging at least partially from the ISO 11898-1 CAN standard, and may be differentiated by an appropriate marking (K1) in the arbitration field and/or in the CAN message control field according to the standard.
    [0013]
    13. Process according to claim 8, characterized in that the other change condition (UB1) is derived from the change condition (UB3) associated with or coincides with it.
    [0014]
    14. Process according to claim 10, characterized in that the appropriate marking (K1) is evaluated in the participating data processing units to determine the other change condition (UB1) and, depending on the other change condition (UB1 ), the reception process is adapted to the size of the data field.
    [0015]
    15. Process according to claim 8, characterized in that the values between 0b0001 and 0b1000 of the data length code are used for data field sizes between 1 and 8 bytes according to the ISO 11898 CAN standard -1 and, in the existence of the other change condition (UB1), the remaining values of the data length code are used for the other allowable sizes of the data field, up to the maximum possible size.
    [0016]
    16. Process according to claim 9, characterized in that in the existence of an additional change condition (UB2), the four bits of the data length code are interpreted, diverging at least partially from the standard of CAN ISO 11898- 1 and diverging from the association when the additional change condition is not present.
    [0017]
    17. Process according to claim 16, characterized in that the messages, in which, in the existence of an additional change condition (UB2), the four bits of the data length code must be interpreted diverging, at least partially , from the CAN ISO 11898-1 standard and deviating from the association, when the additional change condition is not present, are detectable by an additional marking (K2) in the arbitration field and/or in the control field.
    [0018]
    18. Process according to claim 4, characterized in that, depending on the value of a fourth change condition (UB4), the temporal bit length within a message can assume at least two different values, and for at least minus a first predetermined region within the message, the temporal bit length is greater than or equal to a predetermined minimum value of about one microsecond, and in at least a second predetermined region within the message, the temporal bit length has a reduced value. in relation to the first region.
    [0019]
    19. Process according to claim 10, characterized in that, depending on the value of a fourth change condition (UB4), the temporal bit length within a message can assume at least two different values, and for at least minus a first predetermined region within the message, the temporal bit length is greater than or equal to a predetermined minimum value of about one microsecond, and in at least a second predetermined region within the message, the temporal bit length has a reduced value. in relation to the first region.
    [0020]
    20. Process according to claim 18, characterized in that the at least two different values of the temporal bit length within a message are performed in the current operation by using at least two different scaling factors to adjust the unit of bus-time in relation to the smallest unit of time or of the oscillation cycle.
    [0021]
    21. Process according to claim 18, characterized in that messages, in which, depending on the value of a fourth change condition (UB4), the temporal bit length within a message can take at least two different values , are detectable by a fourth token (K4) in the arbitration field and/or in the control field, the fourth token (K4) may coincide with the appropriate token (K1, K3).
    [0022]
    22. Process according to claim 19, characterized in that messages, in which, depending on the value of a fourth change condition (UB4), the temporal bit length within a message can assume at least two different values , are detectable by a fourth token (K4) in the arbitration field and/or in the control field, the fourth token (K4) may coincide with the appropriate token (K1, K3).
    [0023]
    23. Process according to claim 22, characterized in that the value of the fourth change condition (UB4) is determined in the participating data processing units, depending on the fourth mark (K4) or coincides with the other condition of change (UB1) and/or the associated change condition (UB3) or is derived from the other change condition (UB1) and/or the associated change condition (UB3), depending on the value of the fourth change condition , the reception process is adapted to different bit length values within a message.
    [0024]
    24. Process according to claim 4, characterized in that at least one of the appropriate markings (K1, K3) occurs by a first marking bit (EDL), whose position is located between the last bit of the identifier and the first bit of the data length code and in whose position a bit with a defined value is found in messages according to the CAN ISO 11898-1 standard.
    [0025]
    25. Process according to claim 17, characterized in that at least one of the appropriate markings (K1, K3) occurs by a first marking bit (EDL), whose position is located between the last bit of the identifier and the first bit of the data length code and in whose position a bit with a defined value is found in messages according to the CAN ISO 11898-1 standard.
    [0026]
    26. Process according to claim 25, characterized in that the additional marking (K2) occurs by a second marking bit, which lies between the first marking bit (EDL) and the first bit of the length code Dice.
    [0027]
    27. Process according to claim 21, characterized in that at least one of the appropriate markings (K1, K3) occurs by a first marking bit (EDL), whose position is located between the last bit of the identifier and the first bit of the data length code and in whose position a bit with a defined value is found in messages according to the CAN ISO 11898-1 standard.
    [0028]
    28. Process according to claim 27, characterized in that the fourth marking (K4) occurs by another marking bit (BRS), which lies between the first marking bit (EDL) and the first bit of the code of data length.
    [0029]
    29. Process according to claim 1 or 2, characterized by the fact that messages are transmitted time-controlled according to the process described in TTCCAN ISO 11898-4.
    [0030]
    30. Device for serial data transmission in a bus system with at least two participating data processing units, which exchange messages over the bus, and the messages sent have a logical structure in accordance with the ISO 11898- CAN standard. 1, the logical structure comprising a start-of-frame bit, an arbitration field, a control field, a data field, a CRC field, an acknowledgment field, and an end-of-frame sequence. control comprises a data length code, which contains information about the length of the data field, characterized by the fact that, at least depending on the value of an associated change condition (UB3), the CRC field of the messages can present at least two different numbers of bits, with the use of a modified polynomial for the calculation of checksums depending on the change condition (UB3), such that, in the presence of the In the changing condition, the inventive process is used, whereas otherwise the data transmission takes place according to the normal CAN standard.
    [0031]
    31. Device according to claim 30, characterized in that the device is adapted to perform, by appropriate means for this purpose, a process for serial data transmission as defined in any one of claims 2 to 25.
    [0032]
    32. Device according to claim 31, characterized in that the appropriate means comprise a sufficient number of cursor records for calculating the content of the CRC field by at least two different generator polynomials.
    类似技术:
    公开号 | 公开日 | 专利标题
    BR112013025903B1|2021-06-08|process and device for serial data transmission in a bus system
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    CN103782283B|2017-01-18|Method and device for serial data transmission having a flexible message size and a variable bit length
    ES2549640T3|2015-10-30|Method and serial data transmission device adapted to memory capacity
    BR112013033800B1|2021-07-13|PROCESS AND DEVICE FOR SERIAL DATA TRANSMISSION IN A BUS SYSTEM
    同族专利:
    公开号 | 公开日
    JP2014515897A|2014-07-03|
    CN103620573A|2014-03-05|
    RU2013149027A|2015-05-20|
    ES2595155T3|2016-12-28|
    KR101876602B1|2018-07-09|
    JP5902798B2|2016-04-13|
    CN103562901B|2017-01-18|
    EP2695073B1|2016-09-14|
    TWI609580B|2017-12-21|
    JP2016167812A|2016-09-15|
    US20140157080A1|2014-06-05|
    AU2012238883B2|2017-07-27|
    TWI666546B|2019-07-21|
    TW201246869A|2012-11-16|
    CN103620573B|2018-06-19|
    EP2695074B1|2016-07-06|
    EP2695073A1|2014-02-12|
    BR112013025903A2|2016-12-20|
    JP5902799B2|2016-04-13|
    RU2597467C2|2016-09-10|
    EP2695074A1|2014-02-12|
    CN103562901A|2014-02-05|
    KR20140030178A|2014-03-11|
    AU2012238884A1|2013-11-21|
    RU2595962C2|2016-08-27|
    WO2012136545A1|2012-10-11|
    US9880956B2|2018-01-30|
    JP2014518598A|2014-07-31|
    AU2012238883A1|2013-11-21|
    KR101921771B1|2018-11-23|
    TW201303574A|2013-01-16|
    RU2013149026A|2015-05-20|
    KR20140029431A|2014-03-10|
    JP6110534B2|2017-04-05|
    ES2607614T3|2017-04-03|
    BR112013025748A2|2018-04-24|
    WO2012136546A1|2012-10-11|
    US20140201410A1|2014-07-17|
    US9600425B2|2017-03-21|
    AU2012238884B2|2017-07-27|
    BR112013025748B1|2021-06-22|
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    法律状态:
    2018-12-18| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2019-10-22| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2021-01-12| B07A| Application suspended after technical examination (opinion) [chapter 7.1 patent gazette]|
    2021-04-27| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2021-06-08| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 29/03/2012, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
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